To run the CODEV tool:

The results will be saved to the variables 'reachtube', 'safeFlag', and 'T'.
If the system is robustly safe, 'safeFlag=1' and the 'reachtube' will have length(T) elements corresponding with the timestamps in 'T'. Otherwise, 'safeFlag=0' and 'reachtube' will be an empty object.